现代制造工程Issue(7)：27-31,5.
四自由度关节型采摘机械手轨迹规划与实验研究
Trajectory planning and experimental research of the cucumber picking manipulator
摘要
Abstract
According to the demands of cucumber picking task,an articulated picking manipulator with four rotary joints is designed,and a collision-free trajectory planning algorithm in joint space based on cycloidal motion is proposed by considering the structure characteristics of the picking robot system.The planned curves of displacement、velocity and acceleration based on the proposed method are smooth and continuous,which could ensure stability of the manipulator during moving;moreover,it can reduce the computational complexity and improve the real-time performance of the system by transforming obstacles into the joint space to deal with.The realizing steps of the proposed method are descibed in detail,and it' s applied to the practical work of picking cucumbers in the greenhouse,experimental results show that the manipulator can move stably and reliably during picking operation process,and can also move to the target cucumber successfully without collision with other cucumbers and vision system,which could effectively validate the reasonability of the proposed method.关键词
机械手/轨迹规划/摆线运动/黄瓜采摘Key words
manipulator/ trajectory planning/ cycloidal motion/ cucumber picking分类
信息技术与安全科学引用本文复制引用
王燕,张果,葛运旺..四自由度关节型采摘机械手轨迹规划与实验研究[J].现代制造工程,2013,(7):27-31,5.基金项目
河南省教育厅自然科学研究计划项目(12A510018) （12A510018）
